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- data/chunk-000/file-000.parquet +3 -0
- data/chunk-000/file-001.parquet +3 -0
- data/chunk-000/file-002.parquet +3 -0
- meta/bake.json +743 -0
- meta/episodes/chunk-000/file-000.parquet +3 -0
- meta/info.json +148 -0
- meta/modality.json +33 -0
- meta/stats.json +772 -0
- meta/tasks.parquet +3 -0
- videos/observation.images.front_wide/chunk-000/file-000.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-001.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-002.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-003.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-004.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-005.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-006.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-007.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-008.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-009.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-010.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-011.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-012.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-013.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-014.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-015.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-016.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-017.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-018.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-019.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-020.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-021.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-022.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-023.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-024.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-025.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-026.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-027.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-028.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-029.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-030.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-031.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-032.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-033.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-034.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-035.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-036.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-037.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-038.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-039.mp4 +3 -0
- videos/observation.images.front_wide/chunk-000/file-040.mp4 +3 -0
data/chunk-000/file-000.parquet
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data/chunk-000/file-002.parquet
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meta/bake.json
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|
| 1 |
+
{
|
| 2 |
+
"control_space": "joint_target",
|
| 3 |
+
"control_freq_hz": 60.0,
|
| 4 |
+
"origin": [
|
| 5 |
+
"sim"
|
| 6 |
+
],
|
| 7 |
+
"robot_type": "puzzle.coffee.franka.joint",
|
| 8 |
+
"state_names": [
|
| 9 |
+
"panda_joint1",
|
| 10 |
+
"panda_joint2",
|
| 11 |
+
"panda_joint3",
|
| 12 |
+
"panda_joint4",
|
| 13 |
+
"panda_joint5",
|
| 14 |
+
"panda_joint6",
|
| 15 |
+
"panda_joint7",
|
| 16 |
+
"gripper"
|
| 17 |
+
],
|
| 18 |
+
"action_names": [
|
| 19 |
+
"panda_joint1_target",
|
| 20 |
+
"panda_joint2_target",
|
| 21 |
+
"panda_joint3_target",
|
| 22 |
+
"panda_joint4_target",
|
| 23 |
+
"panda_joint5_target",
|
| 24 |
+
"panda_joint6_target",
|
| 25 |
+
"panda_joint7_target",
|
| 26 |
+
"gripper"
|
| 27 |
+
],
|
| 28 |
+
"state_parts": {
|
| 29 |
+
"arm_qpos": [
|
| 30 |
+
0,
|
| 31 |
+
7
|
| 32 |
+
],
|
| 33 |
+
"gripper_qpos": [
|
| 34 |
+
7,
|
| 35 |
+
8
|
| 36 |
+
]
|
| 37 |
+
},
|
| 38 |
+
"action_parts": {
|
| 39 |
+
"arm_qpos_target": [
|
| 40 |
+
0,
|
| 41 |
+
7
|
| 42 |
+
],
|
| 43 |
+
"gripper_target": [
|
| 44 |
+
7,
|
| 45 |
+
8
|
| 46 |
+
]
|
| 47 |
+
},
|
| 48 |
+
"gripper": "closedness in [0,1]: 0 = fully open, 1 = fully closed",
|
| 49 |
+
"idle_filter": {
|
| 50 |
+
"enabled": false,
|
| 51 |
+
"dropped_ticks": 0
|
| 52 |
+
},
|
| 53 |
+
"video_encoder": {
|
| 54 |
+
"vcodec": "h264",
|
| 55 |
+
"pix_fmt": null,
|
| 56 |
+
"crf": null,
|
| 57 |
+
"g": null,
|
| 58 |
+
"gop_seconds": null,
|
| 59 |
+
"preset": null,
|
| 60 |
+
"note": "lerobot without configs.video: only the codec was set"
|
| 61 |
+
},
|
| 62 |
+
"video_files": {
|
| 63 |
+
"max_seconds": 400,
|
| 64 |
+
"size_mb": 62
|
| 65 |
+
},
|
| 66 |
+
"workers": 4,
|
| 67 |
+
"raw_command": true,
|
| 68 |
+
"controller": {
|
| 69 |
+
"class": "FrankaRobot",
|
| 70 |
+
"leaves": [
|
| 71 |
+
{
|
| 72 |
+
"class": "JointController",
|
| 73 |
+
"control_period": 2,
|
| 74 |
+
"control_dt": 0.016666666666666666,
|
| 75 |
+
"cfg": {
|
| 76 |
+
"dt": 0.02,
|
| 77 |
+
"joint_names": [
|
| 78 |
+
"panda_joint[1-7]"
|
| 79 |
+
],
|
| 80 |
+
"scale": 1.0,
|
| 81 |
+
"offset": 0.0
|
| 82 |
+
}
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"class": "JointController",
|
| 86 |
+
"control_period": 2,
|
| 87 |
+
"control_dt": 0.016666666666666666,
|
| 88 |
+
"cfg": {
|
| 89 |
+
"dt": 0.02,
|
| 90 |
+
"joint_names": [
|
| 91 |
+
"panda_finger_joint.*"
|
| 92 |
+
],
|
| 93 |
+
"scale": 1.0,
|
| 94 |
+
"offset": 0.0
|
| 95 |
+
}
|
| 96 |
+
}
|
| 97 |
+
],
|
| 98 |
+
"joint_names": [
|
| 99 |
+
"panda_joint1",
|
| 100 |
+
"panda_joint2",
|
| 101 |
+
"panda_joint3",
|
| 102 |
+
"panda_joint4",
|
| 103 |
+
"panda_joint5",
|
| 104 |
+
"panda_joint6",
|
| 105 |
+
"panda_joint7",
|
| 106 |
+
"panda_finger_joint1",
|
| 107 |
+
"panda_finger_joint2"
|
| 108 |
+
],
|
| 109 |
+
"joint_stiffness": [
|
| 110 |
+
400.0,
|
| 111 |
+
400.0,
|
| 112 |
+
400.0,
|
| 113 |
+
400.0,
|
| 114 |
+
400.0,
|
| 115 |
+
400.0,
|
| 116 |
+
400.0,
|
| 117 |
+
2000.0,
|
| 118 |
+
2000.0
|
| 119 |
+
],
|
| 120 |
+
"joint_damping": [
|
| 121 |
+
80.0,
|
| 122 |
+
80.0,
|
| 123 |
+
80.0,
|
| 124 |
+
80.0,
|
| 125 |
+
80.0,
|
| 126 |
+
80.0,
|
| 127 |
+
80.0,
|
| 128 |
+
100.0,
|
| 129 |
+
100.0
|
| 130 |
+
]
|
| 131 |
+
},
|
| 132 |
+
"mid_solve_controller_changes": [],
|
| 133 |
+
"episodes": [
|
| 134 |
+
"/root/release/coffee/data/t3_recover_a/ep_0000",
|
| 135 |
+
"/root/release/coffee/data/t4_baylast_a/ep_0003",
|
| 136 |
+
"/root/release/coffee/data/t5_slideout_a/ep_0004",
|
| 137 |
+
"/root/release/coffee/data/s3_east_a/ep_0001",
|
| 138 |
+
"/root/release/coffee/data/p1_a/ep_0014",
|
| 139 |
+
"/root/release/coffee/data/t2_shove_a/ep_0003",
|
| 140 |
+
"/root/release/coffee/data/p1_a/ep_0000",
|
| 141 |
+
"/root/release/coffee/data/p1_a/ep_0004",
|
| 142 |
+
"/root/release/coffee/data/p1_a/ep_0008",
|
| 143 |
+
"/root/release/coffee/data/p0_a/ep_0015",
|
| 144 |
+
"/root/release/coffee/data/p0_a/ep_0020",
|
| 145 |
+
"/root/release/coffee/data/p2_a/ep_0008",
|
| 146 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0137",
|
| 147 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0361",
|
| 148 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0000",
|
| 149 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0017",
|
| 150 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0032",
|
| 151 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0070",
|
| 152 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0094",
|
| 153 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0106",
|
| 154 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0118",
|
| 155 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0124",
|
| 156 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0135",
|
| 157 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0141",
|
| 158 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0151",
|
| 159 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0169",
|
| 160 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0181",
|
| 161 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0192",
|
| 162 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0200",
|
| 163 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0215",
|
| 164 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0236",
|
| 165 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0248",
|
| 166 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0256",
|
| 167 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0265",
|
| 168 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0295",
|
| 169 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0306",
|
| 170 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0322",
|
| 171 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0327",
|
| 172 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0332",
|
| 173 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0339",
|
| 174 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0346",
|
| 175 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0359",
|
| 176 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0373",
|
| 177 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0383",
|
| 178 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0393",
|
| 179 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0398",
|
| 180 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0423",
|
| 181 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0441",
|
| 182 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0484",
|
| 183 |
+
"/root/release/coffee/data/p0_a/ep_0004",
|
| 184 |
+
"/root/release/coffee/data/t3_recover_a/ep_0003",
|
| 185 |
+
"/root/release/coffee/data/t4_baylast_a/ep_0004",
|
| 186 |
+
"/root/release/coffee/data/t5_slideout_a/ep_0005",
|
| 187 |
+
"/root/release/coffee/data/t1_cupfirst_b/ep_0000",
|
| 188 |
+
"/root/release/coffee/data/s2_mirror_a/ep_0000",
|
| 189 |
+
"/root/release/coffee/data/p3_b/ep_0002",
|
| 190 |
+
"/root/release/coffee/data/p1_a/ep_0001",
|
| 191 |
+
"/root/release/coffee/data/p1_a/ep_0005",
|
| 192 |
+
"/root/release/coffee/data/p1_a/ep_0009",
|
| 193 |
+
"/root/release/coffee/data/p0_a/ep_0016",
|
| 194 |
+
"/root/release/coffee/data/p0_a/ep_0022",
|
| 195 |
+
"/root/release/coffee/data/p2_a/ep_0011",
|
| 196 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0145",
|
| 197 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0385",
|
| 198 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0002",
|
| 199 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0018",
|
| 200 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0033",
|
| 201 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0082",
|
| 202 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0098",
|
| 203 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0111",
|
| 204 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0119",
|
| 205 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0127",
|
| 206 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0136",
|
| 207 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0143",
|
| 208 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0157",
|
| 209 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0174",
|
| 210 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0185",
|
| 211 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0195",
|
| 212 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0207",
|
| 213 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0223",
|
| 214 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0240",
|
| 215 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0249",
|
| 216 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0259",
|
| 217 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0273",
|
| 218 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0297",
|
| 219 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0316",
|
| 220 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0323",
|
| 221 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0328",
|
| 222 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0335",
|
| 223 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0340",
|
| 224 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0347",
|
| 225 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0364",
|
| 226 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0375",
|
| 227 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0386",
|
| 228 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0394",
|
| 229 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0402",
|
| 230 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0426",
|
| 231 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0456",
|
| 232 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0493",
|
| 233 |
+
"/root/release/coffee/data/p0_a/ep_0005",
|
| 234 |
+
"/root/release/coffee/data/t3_recover_a/ep_0004",
|
| 235 |
+
"/root/release/coffee/data/s4_tight_a/ep_0000",
|
| 236 |
+
"/root/release/coffee/data/s5_fitted_a/ep_0000",
|
| 237 |
+
"/root/release/coffee/data/t1_cupfirst_b/ep_0001",
|
| 238 |
+
"/root/release/coffee/data/t2_shove_a/ep_0000",
|
| 239 |
+
"/root/release/coffee/data/p3_b/ep_0004",
|
| 240 |
+
"/root/release/coffee/data/p1_a/ep_0002",
|
| 241 |
+
"/root/release/coffee/data/p1_a/ep_0006",
|
| 242 |
+
"/root/release/coffee/data/p0_a/ep_0012",
|
| 243 |
+
"/root/release/coffee/data/p0_a/ep_0018",
|
| 244 |
+
"/root/release/coffee/data/p2_a/ep_0001",
|
| 245 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0024",
|
| 246 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0149",
|
| 247 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0401",
|
| 248 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0008",
|
| 249 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0027",
|
| 250 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0036",
|
| 251 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0086",
|
| 252 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0104",
|
| 253 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0115",
|
| 254 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0122",
|
| 255 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0128",
|
| 256 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0138",
|
| 257 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0144",
|
| 258 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0161",
|
| 259 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0177",
|
| 260 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0187",
|
| 261 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0198",
|
| 262 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0209",
|
| 263 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0231",
|
| 264 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0242",
|
| 265 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0251",
|
| 266 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0260",
|
| 267 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0280",
|
| 268 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0303",
|
| 269 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0317",
|
| 270 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0324",
|
| 271 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0330",
|
| 272 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0336",
|
| 273 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0342",
|
| 274 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0350",
|
| 275 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0365",
|
| 276 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0377",
|
| 277 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0390",
|
| 278 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0396",
|
| 279 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0405",
|
| 280 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0429",
|
| 281 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0480",
|
| 282 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0495",
|
| 283 |
+
"/root/release/coffee/data/p0_a/ep_0006",
|
| 284 |
+
"/root/release/coffee/data/t4_baylast_a/ep_0000",
|
| 285 |
+
"/root/release/coffee/data/t5_slideout_a/ep_0000",
|
| 286 |
+
"/root/release/coffee/data/s1_clutter_a/ep_0000",
|
| 287 |
+
"/root/release/coffee/data/t1_cupfirst_b/ep_0003",
|
| 288 |
+
"/root/release/coffee/data/t2_shove_a/ep_0002",
|
| 289 |
+
"/root/release/coffee/data/p3_b/ep_0010",
|
| 290 |
+
"/root/release/coffee/data/p1_a/ep_0003",
|
| 291 |
+
"/root/release/coffee/data/p1_a/ep_0007",
|
| 292 |
+
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|
| 293 |
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|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
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|
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|
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|
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|
| 305 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 319 |
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|
| 320 |
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|
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|
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|
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|
| 324 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 333 |
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|
| 334 |
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|
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|
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|
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|
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|
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|
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|
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|
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| 484 |
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|
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|
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| 515 |
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| 517 |
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|
| 518 |
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| 519 |
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|
| 520 |
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| 523 |
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|
| 524 |
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| 525 |
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|
| 526 |
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|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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|
| 531 |
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|
| 532 |
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|
| 533 |
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|
| 534 |
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|
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|
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|
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|
| 551 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 567 |
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|
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|
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|
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|
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|
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|
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|
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|
| 581 |
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|
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|
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|
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|
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|
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|
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|
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|
| 591 |
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|
| 595 |
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|
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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|
| 606 |
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|
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|
| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0207",
|
| 613 |
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|
| 614 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0240",
|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
| 662 |
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|
| 663 |
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|
| 664 |
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|
| 665 |
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|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0429",
|
| 681 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0480",
|
| 682 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0495",
|
| 683 |
+
"/root/release/coffee/data/p0_a/ep_0006",
|
| 684 |
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|
| 685 |
+
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|
| 686 |
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|
| 687 |
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|
| 688 |
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|
| 689 |
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"/root/release/coffee/data/p3_b/ep_0010",
|
| 690 |
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"/root/release/coffee/data/p1_a/ep_0003",
|
| 691 |
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"/root/release/coffee/data/p1_a/ep_0007",
|
| 692 |
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|
| 693 |
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"/root/release/coffee/data/p0_a/ep_0019",
|
| 694 |
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"/root/release/coffee/data/p2_a/ep_0006",
|
| 695 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0129",
|
| 696 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0337",
|
| 697 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0453",
|
| 698 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0014",
|
| 699 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0028",
|
| 700 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0062",
|
| 701 |
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|
| 702 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0105",
|
| 703 |
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|
| 704 |
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|
| 705 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0130",
|
| 706 |
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|
| 707 |
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|
| 708 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0162",
|
| 709 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0178",
|
| 710 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0188",
|
| 711 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0199",
|
| 712 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0211",
|
| 713 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0235",
|
| 714 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0246",
|
| 715 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0253",
|
| 716 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0262",
|
| 717 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0292",
|
| 718 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0305",
|
| 719 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0321",
|
| 720 |
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"/root/release/coffee/data/batch_dynamics_0001/ep_0326",
|
| 721 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0331",
|
| 722 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0338",
|
| 723 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0344",
|
| 724 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0352",
|
| 725 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0370",
|
| 726 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0378",
|
| 727 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0392",
|
| 728 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0397",
|
| 729 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0407",
|
| 730 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0437",
|
| 731 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0483",
|
| 732 |
+
"/root/release/coffee/data/batch_dynamics_0001/ep_0500",
|
| 733 |
+
"/root/release/coffee/data/p0_a/ep_0009"
|
| 734 |
+
],
|
| 735 |
+
"git_shas": [
|
| 736 |
+
""
|
| 737 |
+
],
|
| 738 |
+
"created": "2026-09-08T03:29:02+00:00",
|
| 739 |
+
"looks": {
|
| 740 |
+
"count": 3,
|
| 741 |
+
"note": "each source episode appears once per visual look (base, draw1, draw2): identical state/action rows, videos re-rendered under a different lighting/camera draw"
|
| 742 |
+
}
|
| 743 |
+
}
|
meta/episodes/chunk-000/file-000.parquet
ADDED
|
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version https://git-lfs.github.com/spec/v1
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oid sha256:f32d7de6c69bb244d5ebe791f41336a1fcca0ac26fb7520b69c27884e873087d
|
| 3 |
+
size 663732
|
meta/info.json
ADDED
|
@@ -0,0 +1,148 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"codebase_version": "v3.0",
|
| 3 |
+
"robot_type": "puzzle.coffee.franka.joint",
|
| 4 |
+
"total_episodes": 600,
|
| 5 |
+
"total_frames": 1584630,
|
| 6 |
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|
| 7 |
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"chunks_size": 1000,
|
| 8 |
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|
| 9 |
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|
| 10 |
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|
| 11 |
+
"splits": {
|
| 12 |
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"train": "0:600"
|
| 13 |
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},
|
| 14 |
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"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
|
| 15 |
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"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
|
| 16 |
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"features": {
|
| 17 |
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"observation.images.front_wide": {
|
| 18 |
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"dtype": "video",
|
| 19 |
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"shape": [
|
| 20 |
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480,
|
| 21 |
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640,
|
| 22 |
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3
|
| 23 |
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],
|
| 24 |
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"names": [
|
| 25 |
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"height",
|
| 26 |
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"width",
|
| 27 |
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"channels"
|
| 28 |
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],
|
| 29 |
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"info": {
|
| 30 |
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|
| 31 |
+
"video.width": 640,
|
| 32 |
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"video.codec": "h264",
|
| 33 |
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"video.pix_fmt": "yuv420p",
|
| 34 |
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"video.is_depth_map": false,
|
| 35 |
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"video.fps": 60,
|
| 36 |
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"video.channels": 3,
|
| 37 |
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"has_audio": false
|
| 38 |
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}
|
| 39 |
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},
|
| 40 |
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"observation.images.wrist": {
|
| 41 |
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"dtype": "video",
|
| 42 |
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"shape": [
|
| 43 |
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480,
|
| 44 |
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640,
|
| 45 |
+
3
|
| 46 |
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],
|
| 47 |
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"names": [
|
| 48 |
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"height",
|
| 49 |
+
"width",
|
| 50 |
+
"channels"
|
| 51 |
+
],
|
| 52 |
+
"info": {
|
| 53 |
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"video.height": 480,
|
| 54 |
+
"video.width": 640,
|
| 55 |
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"video.codec": "h264",
|
| 56 |
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"video.pix_fmt": "yuv420p",
|
| 57 |
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"video.is_depth_map": false,
|
| 58 |
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"video.fps": 60,
|
| 59 |
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"video.channels": 3,
|
| 60 |
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"has_audio": false
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
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"observation.state": {
|
| 64 |
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"dtype": "float32",
|
| 65 |
+
"shape": [
|
| 66 |
+
8
|
| 67 |
+
],
|
| 68 |
+
"names": [
|
| 69 |
+
"panda_joint1",
|
| 70 |
+
"panda_joint2",
|
| 71 |
+
"panda_joint3",
|
| 72 |
+
"panda_joint4",
|
| 73 |
+
"panda_joint5",
|
| 74 |
+
"panda_joint6",
|
| 75 |
+
"panda_joint7",
|
| 76 |
+
"gripper"
|
| 77 |
+
]
|
| 78 |
+
},
|
| 79 |
+
"action": {
|
| 80 |
+
"dtype": "float32",
|
| 81 |
+
"shape": [
|
| 82 |
+
8
|
| 83 |
+
],
|
| 84 |
+
"names": [
|
| 85 |
+
"panda_joint1_target",
|
| 86 |
+
"panda_joint2_target",
|
| 87 |
+
"panda_joint3_target",
|
| 88 |
+
"panda_joint4_target",
|
| 89 |
+
"panda_joint5_target",
|
| 90 |
+
"panda_joint6_target",
|
| 91 |
+
"panda_joint7_target",
|
| 92 |
+
"gripper"
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"raw_command": {
|
| 96 |
+
"dtype": "float32",
|
| 97 |
+
"shape": [
|
| 98 |
+
9
|
| 99 |
+
],
|
| 100 |
+
"names": [
|
| 101 |
+
"cmd_0",
|
| 102 |
+
"cmd_1",
|
| 103 |
+
"cmd_2",
|
| 104 |
+
"cmd_3",
|
| 105 |
+
"cmd_4",
|
| 106 |
+
"cmd_5",
|
| 107 |
+
"cmd_6",
|
| 108 |
+
"cmd_7",
|
| 109 |
+
"cmd_8"
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"timestamp": {
|
| 113 |
+
"dtype": "float32",
|
| 114 |
+
"shape": [
|
| 115 |
+
1
|
| 116 |
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],
|
| 117 |
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"names": null
|
| 118 |
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},
|
| 119 |
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"frame_index": {
|
| 120 |
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"dtype": "int64",
|
| 121 |
+
"shape": [
|
| 122 |
+
1
|
| 123 |
+
],
|
| 124 |
+
"names": null
|
| 125 |
+
},
|
| 126 |
+
"episode_index": {
|
| 127 |
+
"dtype": "int64",
|
| 128 |
+
"shape": [
|
| 129 |
+
1
|
| 130 |
+
],
|
| 131 |
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"names": null
|
| 132 |
+
},
|
| 133 |
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"index": {
|
| 134 |
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|
| 135 |
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"shape": [
|
| 136 |
+
1
|
| 137 |
+
],
|
| 138 |
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"names": null
|
| 139 |
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},
|
| 140 |
+
"task_index": {
|
| 141 |
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|
| 142 |
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"shape": [
|
| 143 |
+
1
|
| 144 |
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],
|
| 145 |
+
"names": null
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
}
|
meta/modality.json
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"state": {
|
| 3 |
+
"arm_qpos": {
|
| 4 |
+
"start": 0,
|
| 5 |
+
"end": 7
|
| 6 |
+
},
|
| 7 |
+
"gripper_qpos": {
|
| 8 |
+
"start": 7,
|
| 9 |
+
"end": 8
|
| 10 |
+
}
|
| 11 |
+
},
|
| 12 |
+
"action": {
|
| 13 |
+
"arm_qpos_target": {
|
| 14 |
+
"start": 0,
|
| 15 |
+
"end": 7
|
| 16 |
+
},
|
| 17 |
+
"gripper_target": {
|
| 18 |
+
"start": 7,
|
| 19 |
+
"end": 8
|
| 20 |
+
}
|
| 21 |
+
},
|
| 22 |
+
"video": {
|
| 23 |
+
"front_wide": {
|
| 24 |
+
"original_key": "observation.images.front_wide"
|
| 25 |
+
},
|
| 26 |
+
"wrist": {
|
| 27 |
+
"original_key": "observation.images.wrist"
|
| 28 |
+
}
|
| 29 |
+
},
|
| 30 |
+
"annotation": {
|
| 31 |
+
"annotation.human.task_description": {}
|
| 32 |
+
}
|
| 33 |
+
}
|
meta/stats.json
ADDED
|
@@ -0,0 +1,772 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
|
|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
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|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
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|
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|
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|
|
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|
|
|
|
|
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|
|
|
|
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|
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